ROS2 logging

#ros2   #tutorial   #logging  

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Table of Content

ROS2 logging

ROS2 logging control and config

config

ros2 wiki logging

environment variables

• RCUTILS_COLORIZED_OUTPUT
• ROS_LOG_DIR
• RCUTILS_LOGGING_USE_STDOUT
• RCUTILS_LOGGING_BUFFERED_STREAM
• RCUTILS_CONSOLE_OUTPUT_FORMAT

RCUTILS_CONSOLE_OUTPUT_FORMAT

export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"

RCUTILS_COLORIZED_OUTPUT

colorize logging

Add environment variable to .bashrc

export RCUTILS_COLORIZED_OUTPUT=1

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Control

throttled

throttled

node.get_logger().error("log every sec", throttle_duration_sec=1)

one time

log only first time

node.get_logger().info(f'log only once', once=True)

skip

log, skip first time

node.get_logger().info(f'log only once', skip_first=True)

logging control demo

• control node log level
• Set logging format

very simple node with logging

#!/usr/bin/env python3

import rclpy
from rclpy.node import Node

class MyNode(Node):
    def __init__(self):
        node_name="minimal"
        super().__init__(node_name)
        self.get_logger().info("debug")
        self.get_logger().info("info")
        self.get_logger().warning("warning")
        self.get_logger().error("error")

def main(args=None):
    rclpy.init(args=args)
    node = MyNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

node.launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import SetEnvironmentVariable

def generate_launch_description():
    log_format_env = SetEnvironmentVariable(name="RCUTILS_CONSOLE_OUTPUT_FORMAT", value="[{severity} {time}] [{name} ({line_number})]: {message} ")
    node = Node(name="minimal_node",
        package="pkg_launch_tutorial",
        executable="minimal_node.py",
        arguments=['--ros-args', '--log-level', 'info']
    )

    ld = LaunchDescription()
    ld.add_action(log_format_env)
    ld.add_action(node)

    return ld

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log external config

ros2 run some_package some_ros_executable --ros-args --log-config-file some_log.config

ROS2 logging base on spdlog
for know spdlog not support external config

check humble code